Table of Content ASDA-M 6.2.8 Gain Adjustment of Position Loop ........................................................ 6-15 6.2.9 Low-frequency Vibration Suppression in Position Mode ....................... 6-17 6.3 Speed Mode .................................................................................................. 6-23 6.3.1 Selection of Speed Command .............................................................. 6-23 6.3.2 Control Structure of Speed Mode ......................................................... 6-24 6.3.3 Smooth Speed Command ....................................................................
6-26 6.3.4 The Scaling of Analog Command ......................................................... 6-30 6.3.5 The Timing Diagram in Speed Mode .................................................... 6-31 6.3.6 Gain Adjustment of Speed Loop ........................................................... 6-32 6.3.7 Resonance Suppression....................................................................... 6-38 6.4 Torque Mode ................................................................................................. 6-47 6.4.1 Selection of Torque Command .............................................................
6-47 6.4.2 Control Structure of Torque Mode ........................................................ 6-48 6.4.3 Smooth Torque Command ................................................................... 6-49 6.4.4 The Scaling of Analog Command ......................................................... 6-50 6.4.5 The Timing Diagram in Torque Mode ................................................... 6-51 6.5 Dual Mode ..................................................................................................... 6-52 6.5.1 Speed ／ Position Dual Mode .................................................................
6-53 6.5.2 Speed ／ Torque Dual Mode .................................................................. 6-53 6.5.3 Torque ／ Position Dual Mode ................................................................ 6-54 6.6 Others ............................................................................................................ 6-55 6.6.1 The Use of Speed Limit ........................................................................ 6-55 6.6.2 The Use of Torque Limit ....................................................................... 6-55 April, 2013